Current status

Software and notes

MBED code is currently stashed on mbed.org; it'll be copied into the github repository as soon as I figure out how to.

To do list

SSL connection to Android app (this is unnecessary once we get the Pi connected, though)

Better controls on the Python side

Ability to shut down over CAN (currently we only start up, and though we can switch off drive, the system still draws about 0.3A. This would involve switching the relay back to the joystick unit and 'pressing' the power button again to reduce standby power.

Components

Crappy photo of the wheelchair motor

Bob has two wheelchair drive trains (motor, gearbox and wheel) and the original speed controller and joystick unit. These have been tested and work well. The communication protocol between the speed controller and joystick is believed to be CAN-based.